#! /usr/bin/env python
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PACKAGE='image_rotate'
import roslib; roslib.load_manifest(PACKAGE)

from dynamic_reconfigure.parameter_generator import *

gen = ParameterGenerator()
gen.add("target_frame_id", str_t, 0, "Frame in which the target vector is specified. Empty means the input frame.", "base_link")
gen.add("target_x",     double_t, 0, "X coordinate of the target vector", 0, -10, 10)
gen.add("target_y",     double_t, 0, "Y coordinate of the target vector", 0, -10, 10)
gen.add("target_z",     double_t, 0, "Z coordinate of the target vector", 1, -10, 10)

gen.add("source_frame_id", str_t, 0, "Frame in which the source vector is specified. Empty means the input frame.", "")
gen.add("source_x",   double_t, 0, "X coordinate of the direction the target should be aligned with.", 0, -10, 10)
gen.add("source_y",   double_t, 0, "Y coordinate of the direction the target should be aligned with.", -1, -10, 10)
gen.add("source_z",   double_t, 0, "Z coordinate of the direction the target should be aligned with.", 0, -10, 10)

gen.add("output_frame_id", str_t, 0, "Frame to publish for the image's new orientation. Empty means add '_rotated' suffix to the image frame.", "")
gen.add("input_frame_id", str_t, 0, "Frame to use for the original camera image. Empty means that the frame in the image or camera_info should be used depending on use_camera_info.", "")

gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", True)

gen.add("max_angular_rate", double_t, 0, "Limits the rate at which the image can rotate (rad/s). Zero means no limit.", 10, 0, 100)

gen.add("output_image_size", double_t, 0, "Size of the output image as a function of the input image size. Can be varied continuously between the following special settings: 0 ensures no black ever appears, 1 is small image dimension, 2 is large image dimension, 3 is image diagonal.", 2, 0, 3)

exit(gen.generate(PACKAGE, "image_rotate", "ImageRotate"))
